CN110488631A - A kind of rail transit automatic pilot control algolithm analogue system and emulation mode - Google Patents
A kind of rail transit automatic pilot control algolithm analogue system and emulation mode Download PDFInfo
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- CN110488631A CN110488631A CN201910802263.7A CN201910802263A CN110488631A CN 110488631 A CN110488631 A CN 110488631A CN 201910802263 A CN201910802263 A CN 201910802263A CN 110488631 A CN110488631 A CN 110488631A
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- 238000004088 simulation Methods 0.000 claims abstract description 19
- 238000004364 calculation method Methods 0.000 claims abstract description 14
- 239000003638 chemical reducing agent Substances 0.000 claims description 20
- 230000009977 dual effect Effects 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000005070 sampling Methods 0.000 claims description 9
- 230000001133 acceleration Effects 0.000 claims description 6
- 239000002184 metal Substances 0.000 claims description 4
- 239000000203 mixture Substances 0.000 claims description 3
- 230000011664 signaling Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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Abstract
The present invention is a kind of rail transit automatic pilot control algolithm analogue system and emulation mode, and wherein analogue system includes rail traffic control system, emulation controller, traction braking system, perturbed system, power emerging system, load and velocity sensor；Rail traffic control system is completed rail transit automatic pilot control algolithm and is calculated, and torque command is transferred to emulation controller；Emulation controller completes the simulation calculation of traction braking according to torque command and train speed, and calculated result is transferred to traction braking system, emulation controller carries out train operation disturbance according to train speed, train position, line information etc. and calculates simultaneously, and by calculated result perturbed system；Traction braking system and perturbed system band dynamic load and velocity sensor after power merges rotate together, and complete the emulation of rail transit automatic pilot control algolithm.Power fusion uses mechanical fusion, designs the simulation model of closing to reality system, improves the simulation accuracy of control algolithm.
Description
Technical field
The present invention is to be related to rail traffic simulation technical field, and specifically a kind of rail transit automatic pilot control is calculated
Method analogue system and emulation mode.
Background technique
Urban track traffic has become the main means of transport in medium-and-large-sized city, and the comfort level of carriage, safety are rails
The main demand for control of road traffic control system, applicable automatic Pilot control algolithm research is by more and more extensive attention.
Rail Transit System traction braking system is the execution unit of rail traffic control system, drives rail traffic vehicles
Operation, due to including the correlative factors such as rail traffic control system field adjustable time, commissioning test cost and safety, rail
The debugging of road traffic automatic Pilot control algolithm is difficult to carry out long-time debugging at the scene, to solve the above problems, establishing track friendship
Logical automatic Pilot control algolithm emulation platform is necessary.
The research for influencing the control algolithm of rail transit automatic pilot is primarily present three elements, i.e. the electricity of rail traffic is led
Draw braking characteristic, inertia load, perturbation load (including datum drag, ramp, air damping etc.), rail transit automatic pilot control
Algorithm simulating system processed can simulate real system as far as possible.Currently used two methods, one is lead according to rail traffic
Draw braking characteristic, simulation model is established using pure software mode, carries out control algolithm emulation, this method is the simplest, is easy
It realizes, is disadvantageous in that, since model may there are bigger differences with the motor control characteristic of practical traction braking system, imitate
True effect Shortcomings.Another is such as Chinese Patent Application No.: CN201610865160.1, the applying date: 09 month 2016 29
Day, patent name are as follows: the vehicle-mounted traction braking controller system of urban track traffic and its working method, disclosure of the invention one kind
The vehicle-mounted traction braking controller system of urban track traffic and its working method, are able to carry out train operation simulation emulation module root
Traction braking force information, line information and the train attribute of train are obtained according to initial parameter, are carried out dynamics operation and are determined column
The acceleration and speed at vehicle current time, and fault simulation calculating etc. is carried out to train.The invention is by rail traffic controller
Acceleration instructs on the basis of considering traction braking model, is finally calculated as speed command, control motor rotation, and motor drives
Velocity sensor rotation, the feedback as rail traffic control system.Compare first method, and this method drives speed to pass
Sensor rotation, closer to actual characteristic.
Although second method can drive the rotation of sensor by motor driven, rail transit automatic pilot is realized
Closed-loop simulation, it is practical that bigger difference is still remained with real system characteristic Simulation by theoretical calculation speed, it is closer practical
System emulation, carries out the research of automatic Pilot control algolithm, while providing for the control algolithm preliminary debugging of practical automatic Pilot
Condition designs the rail traffic control algolithm analogue system closer to real system.
Summary of the invention
The present invention aiming at the shortcomings in the prior art, provide a kind of rail transit automatic pilot control algolithm analogue system and
Emulation mode can be realized rail transit automatic pilot control algolithm and provide the simulation model for being more bonded real system, improves
The debugging efficiency of control research and real system, solves the above-mentioned problems in the prior art.
To achieve the above object, the invention adopts the following technical scheme:
A kind of rail transit automatic pilot control algolithm analogue system, it is characterised in that: including rail traffic control system,
Emulation controller, traction braking system, perturbed system, power emerging system, load and velocity sensor；
The rail traffic control system refers to torque for completing the calculating of rail transit automatic pilot control algolithm
Order is transferred to emulation controller；
The emulation controller is connect with traction braking system, perturbed system two-way signaling respectively, the emulation control
Device processed is used to complete the simulation calculation of traction braking and disturbance calculates, and respectively calculates the simulation calculation of traction braking and disturbance
Calculated result be conveyed to pull-in control system and perturbed system respectively；
The band dynamic load after power emerging system of the pull-in control system and the power of perturbed system output rotates,
The velocity sensor is fixedly mounted in load, and described velocity sensor and load rotate synchronously；
The velocity sensor is connect with rail traffic control system signal, and the velocity sensor is for acquiring reality
When speed data.
The traction braking system is made of drive control device and driving motor, and the drive control device is for controlling
The working condition of driving motor, the perturbed system are made of load controller and loading motor, the load controller
For controlling the working condition of loading motor.
The power emerging system uses dual input speed reducer, the output shaft of driving motor and the output shaft of loading motor
It is sequentially connected respectively with two input shafts of dual input speed reducer, the output shaft of dual input speed reducer is connect with load transmission.
The load uses inertia disc, and the inertia disc is using multiple separable metal dish compositions.
The velocity sensor is fixedly mounted in the rotary shaft of inertia disc.
A kind of emulation mode of rail transit automatic pilot control algolithm analogue system, it is characterised in that: specific steps are such as
Under:
Step 1, torque command is sent emulation controller by rail traffic control system, and the emulation controller calculates
Traction braking torque simultaneously controls control driving motor rotation by drive control device；
Step 2, emulation controller reads the revolving speed of driving motor by fieldbus, and is converted to train speed and train
Position；
Step 3, emulation controller combination train position, route data and train speed calculate disturbing in train operation
Kinetic moment simultaneously controls loading motor rotation by load controller；The calculating of the disturbing moment and traction braking torque is same
One sampling period is calculated；
Step 4, the output shaft of the output shaft of driving motor and loading motor is defeated with two of dual input speed reducer respectively
Enter axis transmission connection, the output shaft band dynamic load of dual input speed reducer rotates；
Step 5, according to train load situation to be simulated adjustment load inertia disk quantity；
Step 6, the revolving speed of inertia disc is acquired by velocity sensor, and feeds back the track into rail traffic control system
Traffic control is converted to train speed, train acceleration and train position according to the revolving speed of inertia disc, and according to above-mentioned parameter tune
Whole torque command.
The calculation method specific steps of the traction braking torque are as follows:
Step 1, torque command is read；
Step 2, control motor speed is read, and converting is train speed, train position；
Step 3, software data delay is carried out by true train instruction transmission delay；
Step 4, it is calculated maximum according to the train speed calculated by the constant output characteristic of actual track traffic traction motor
Driving motor torque；
Step 5, compare the maximum drive motor torque whether torque command is greater than step 4 calculating, and maximum will be no more than
The value of driving motor torque is transferred to drive control device；
Step 6, next sampling period repeats step 1 to step 5.
The calculation method specific steps of the disturbing moment are as follows:
Step 1, train position information is read；
Step 2, according to track data and train position, train gradient resistance is calculated；
Step 3, according to track data and train position, train curve resistance is calculated；
Step 4, according to train speed information, train basic resistance is calculated；
Step 5, by above-mentioned resistance algebraical sum, and algebraical sum is transferred to load controller, the load controller control
The output torque value of loading motor processed；
Step 6, next sampling period repeats step 1 to step 5.
The rated speed S of the driving motor1It is matched with the speed ratio i of dual input speed reducer by formula (1), specific
It is as follows with formula (1):
Wherein, the permanent torque of the practical traction braking of train and invariable power switch speed S2, train driving wheel radius R.
The driving motor rated moment M and inertia disc maximum rotation inertia ImaxIt is matched by formula (2), specific
It is as follows with formula (2):
Wherein, train biggest quality W, train maximum drawbar pull Fmax, radius of wheel R, loading motor selection and driving motor
It is identical.
The beneficial effect of a kind of rail transit automatic pilot control algolithm analogue system of the present invention and emulation mode is: setting
Traction braking module, disturbance module etc., each module is mutually indepedent, and adjustment simulation model is more convenient.By disturbance simulation using double
It inputs speed reducer and carries out power fusion, closer to the realistic model of actual track traffic traction braking control system, make to emulate mould
Type is more acurrate.
Detailed description of the invention
Fig. 1 is a kind of structure principle chart of rail transit automatic pilot control algolithm analogue system of the present invention.
Fig. 2 is traction braking system and disturbance system in a kind of rail transit automatic pilot control algolithm analogue system of the present invention
The structure principle chart of system.
Fig. 3 is the workflow of emulation controller in a kind of rail transit automatic pilot control algolithm analogue system of the present invention
Figure.
Fig. 4 is the calculating stream of traction braking torque in a kind of rail transit automatic pilot control algolithm analogue system of the present invention
Cheng Tu.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.
As shown in Figure 1, a kind of rail transit automatic pilot control algolithm analogue system, it is characterised in that: handed over including track
Logical control system, emulation controller, traction braking system, perturbed system, power emerging system, load and velocity sensor；
The rail traffic control system refers to torque for completing the calculating of rail transit automatic pilot control algolithm
Order is transferred to emulation controller；
The emulation controller is connect with traction braking system, perturbed system two-way signaling respectively, the emulation control
Device processed is used to complete the simulation calculation of traction braking and disturbance calculates, and respectively calculates the simulation calculation of traction braking and disturbance
Calculated result be conveyed to pull-in control system and perturbed system respectively；
The band dynamic load after power emerging system of the pull-in control system and the power of perturbed system output rotates,
The velocity sensor is fixedly mounted in load, and described velocity sensor and load rotate synchronously；
The velocity sensor is connect with rail traffic control system signal, and the velocity sensor is for acquiring reality
When speed data.
In the present embodiment, traction braking system is made of drive control device and driving motor, and the drive control device is used
In the working condition of control driving motor, the perturbed system is made of load controller and loading motor, the load
Controller is used to control the working condition of loading motor.
In the present embodiment, power emerging system uses dual input speed reducer, the output shaft of driving motor and loading motor
Output shaft is sequentially connected with two input shafts of dual input speed reducer respectively, and the output shaft and load transmission of dual input speed reducer connect
It connects.
In the present embodiment, load uses inertia disc, and the inertia disc is using multiple separable metal dish compositions.
In the present embodiment, velocity sensor is fixedly mounted in the rotary shaft of inertia disc.
Further, emulation controller receives the torque command of rail traffic control system, command protocols 4-20Ma；If
It sets the velocity sensor on load inertia disk and provides train speed information for rail traffic control system, as rail traffic control
The sensor for calculating train position, speed, acceleration signal of system processed.
Since the velocity sensor of rail traffic is dedicated velocity sensor, emulation controller is not easy to directly read its speed
Degree evidence, therefore, emulation controller carry out bidirectional information by CAN Bus open and drive control device, load controller
Exchange directly reads the revolving speed of driving motor or loading motor by drive control device or load controller.
Further, the input due to the output shaft of the output shaft of driving motor and loading motor with dual input speed reducer
Axis rigid connection, therefore, the revolving speed of the output shaft of the output shaft and loading motor of driving motor is identical, and with load inertia disk
Revolving speed only differs the speed ratio of a speed reducer.Drive control device is carried out before carrying out algorithm simulating and loads the work of controller
The operating mode of drive control device, load controller is each configured to torque operating mode by pattern configurations.
In CN201610865160.1, motor driven velocity sensor is directlyed adopt, due to the speed of motor control itself
Degree control fluctuation, causes the signal of velocity sensor there are certain fluctuation, with real system train large inertia system exist compared with
Big difference.The load inertia disk used in the present embodiment is made of multiple separable metal dish, needs to pacify according to actual emulation
Fill different number, the typical cases such as the zero load of simulation train, nominal load and overload.
A kind of emulation mode of rail transit automatic pilot control algolithm analogue system, it is characterised in that: specific steps are such as
Under:
Step 1, torque command is sent emulation controller by rail traffic control system, and the emulation controller calculates
Traction braking torque simultaneously controls control driving motor rotation by drive control device；
Step 2, emulation controller reads the revolving speed of driving motor by fieldbus, and is converted to train speed and train
Position；
Step 3, emulation controller combination train position, route data and train speed calculate disturbing in train operation
Kinetic moment simultaneously controls loading motor rotation by load controller；The calculating of the disturbing moment and traction braking torque is same
One sampling period is calculated；
Step 4, the output shaft of the output shaft of driving motor and loading motor is defeated with two of dual input speed reducer respectively
Enter axis transmission connection, the output shaft band dynamic load of dual input speed reducer rotates；
Step 5, according to train load situation to be simulated adjustment load inertia disk quantity；
Step 6, the revolving speed of inertia disc is acquired by velocity sensor, and feeds back the track into rail traffic control system
Traffic control is converted to train speed, train acceleration and train position according to the revolving speed of inertia disc, and according to above-mentioned parameter tune
Whole torque command.
In the present embodiment, the calculation method specific steps of traction braking torque are as follows:
Step 1, torque command is read；
Step 2, control motor speed is read, and converting is train speed, train position；
Step 3, software data delay is carried out by true train instruction transmission delay；
Step 4, it is calculated maximum according to the train speed calculated by the constant output characteristic of actual track traffic traction motor
Driving motor torque；
Step 5, compare the maximum drive motor torque whether torque command is greater than step 4 calculating, and maximum will be no more than
The value of driving motor torque is transferred to drive control device；
Step 6, next sampling period repeats step 1 to step 5.
In the present embodiment, the calculation method specific steps of disturbing moment are as follows:
Step 1, train position information is read；
Step 2, according to track data and train position, train gradient resistance is calculated；
Step 3, according to track data and train position, train curve resistance is calculated；
Step 4, according to train speed information, train basic resistance is calculated；
Step 5, by above-mentioned resistance algebraical sum, and algebraical sum is transferred to load controller, the load controller control
The output torque value of loading motor processed；
Step 6, next sampling period repeats step 1 to step 5.
In the present embodiment, driving motor rated speed S1Speed ratio i with dual input speed reducer is by formula (1) progress
Match, specific matching formula (1) is as follows:
Wherein, the permanent torque of the practical traction braking of train and invariable power switch speed S2, train driving wheel radius R.
In the present embodiment, driving motor rated moment M and inertia disc maximum rotation inertia ImaxIt is matched, is had by formula (2)
Body matching formula (2) is as follows:
Wherein, train biggest quality W, train maximum drawbar pull Fmax, radius of wheel R, loading motor selection and driving motor
It is identical.
Further, disturbing moment includes but is not limited to train gradient resistance, vehicle curve resistance, train basic resistance and column
The vehicle resistance of start.The train position is the actual track information of rail traffic to be emulated, including ramp information, bend information
Deng.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
For those of ordinary skill, several improvements and modifications without departing from the principles of the present invention should be regarded as protection of the invention
Range.
Claims (10)
1. a kind of rail transit automatic pilot control algolithm analogue system, it is characterised in that: including rail traffic control system, imitate
True controller, traction braking system, perturbed system, power emerging system, load and velocity sensor；
The rail traffic control system passes torque command for completing the calculating of rail transit automatic pilot control algolithm
It is defeated by emulation controller；
The emulation controller is connect with traction braking system, perturbed system two-way signaling respectively, the emulation controller
The meter that simulation calculation and disturbance for completing traction braking calculate, and respectively calculate the simulation calculation of traction braking and disturbance
It calculates result and is conveyed to pull-in control system and perturbed system respectively；
The band dynamic load after power emerging system of the pull-in control system and the power of perturbed system output rotates, described
Velocity sensor be fixedly mounted in load, described velocity sensor and load rotate synchronously；
The velocity sensor is connect with rail traffic control system signal, and the velocity sensor is for acquiring real-time speed
Degree evidence.
2. a kind of rail transit automatic pilot control algolithm analogue system as described in claim 1, it is characterised in that: described
Traction braking system is made of drive control device and driving motor, and the drive control device is used to control the work of driving motor
State, the perturbed system are made of load controller and loading motor, and the load controller is for controlling load electricity
The working condition of machine.
3. a kind of rail transit automatic pilot control algolithm analogue system as claimed in claim 2, it is characterised in that: described
Power emerging system uses dual input speed reducer, and the output shaft of driving motor and the output shaft of loading motor subtract with dual input respectively
Two input shafts of fast machine are sequentially connected, and the output shaft of dual input speed reducer is connect with load transmission.
4. a kind of rail transit automatic pilot control algolithm analogue system as claimed in claim 3, it is characterised in that: described
Load uses inertia disc, and the inertia disc is using multiple separable metal dish compositions.
5. a kind of rail transit automatic pilot control algolithm analogue system as claimed in claim 4, it is characterised in that: described
Velocity sensor is fixedly mounted in the rotary shaft of inertia disc.
6. a kind of emulation mode of rail transit automatic pilot control algolithm analogue system, it is characterised in that: specific step is as follows:
Step 1, torque command is sent emulation controller by rail traffic control system, and the emulation controller calculates traction
Braking moment simultaneously controls control driving motor rotation by drive control device；
Step 2, emulation controller reads the revolving speed of driving motor by fieldbus, and is converted to train speed and train position
It sets；
Step 3, emulation controller combination train position, route data and train speed calculate the perturbed force in train operation
Square simultaneously controls loading motor rotation by load controller；The calculating of the disturbing moment and traction braking torque is same
Sampling period is calculated；
Step 4, the output shaft of the output shaft of driving motor and loading motor respectively with two input shafts of dual input speed reducer
The output shaft band dynamic load of transmission connection, dual input speed reducer rotates；
Step 5, according to train load situation to be simulated adjustment load inertia disk quantity；
Step 6, the revolving speed of inertia disc is acquired by velocity sensor, and feeds back the rail traffic into rail traffic control system
Control is converted to train speed, train acceleration and train position according to the revolving speed of inertia disc, and according to above-mentioned parameter adjustment force
Square instruction.
7. a kind of emulation mode of rail transit automatic pilot control algolithm analogue system as claimed in claim 6, feature
It is: the calculation method specific steps of the traction braking torque are as follows:
Step 1, torque command is read；
Step 2, control motor speed is read, and converting is train speed, train position；
Step 3, software data delay is carried out by true train instruction transmission delay；
Step 4, maximum drive is calculated by the constant output characteristic of actual track traffic traction motor according to the train speed calculated
Motor torque；
Step 5, compare the maximum drive motor torque whether torque command is greater than step 4 calculating, and maximum drive will be no more than
The value of motor torque is transferred to drive control device；
Step 6, next sampling period repeats step 1 to step 5.
8. a kind of emulation mode of rail transit automatic pilot control algolithm analogue system as claimed in claim 6, feature
It is: the calculation method specific steps of the disturbing moment are as follows:
Step 1, train position information is read；
Step 2, according to track data and train position, train gradient resistance is calculated；
Step 3, according to track data and train position, train curve resistance is calculated；
Step 4, according to train speed information, train basic resistance is calculated；
Step 5, by above-mentioned resistance algebraical sum, and algebraical sum is transferred to load controller, the load controller control adds
Carry the output torque value of motor；
Step 6, next sampling period repeats step 1 to step 5.
9. a kind of emulation mode of rail transit automatic pilot control algolithm analogue system as claimed in claim 6, feature
It is: the rated speed S of the driving motor1It is matched with the speed ratio i of dual input speed reducer by formula (1), it is specific to match
Formula (1) is as follows:
Wherein, the permanent torque of the practical traction braking of train and invariable power switch speed S2, train driving wheel radius R.
10. a kind of emulation mode of rail transit automatic pilot control algolithm analogue system as claimed in claim 6, feature
It is: the driving motor rated moment M and inertia disc maximum rotation inertia ImaxIt is matched by formula (2), specific matching is public
Formula (2) is as follows:
Wherein, train biggest quality W, train maximum drawbar pull Fmax, radius of wheel R, loading motor selection and driving motor phase
Together.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910802263.7A CN110488631A (en) | 2019-08-28 | 2019-08-28 | A kind of rail transit automatic pilot control algolithm analogue system and emulation mode |
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| CN112859610A (en) * | 2021-01-15 | 2021-05-28 | 青岛地铁集团有限公司运营分公司 | Railway vehicle control operation system and minimum wear control algorithm |
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Cited By (2)
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